Delta Tau GEO BRICK LV Benutzerhandbuch
Turbo PMAC User Manual
Basic Motor Setup
71
BASIC MOTOR SETUP
Turbo PMAC has many modes for controlling motors. A major part of the initial setup of a Turbo PMAC
is the hardware and software configuration to specify a specific mode of operation. The commonly used
modes of operation are:
is the hardware and software configuration to specify a specific mode of operation. The commonly used
modes of operation are:
•
Analog command of velocity-mode drives
•
Analog command of torque-mode drives
•
Analog command of sine-wave input drives
•
Direct PWM control of power-block drives
•
Pulse-and-direction command of stepper or stepper-replacementservo drives
Any of these modes can be employed directly in a Turbo PMAC system, or over the MACRO ring.
When using the MACRO ring, the command and feedback values are passed across the ring as binary
numerical values; the actual generation of command signals and processing of feedback signals is done at
the remote MACRO node. The motor algorithms in the Turbo PMAC are the same regardless of whether
the MACRO ring is used or not. The choice of mode of operation is independent for each motor.
When using the MACRO ring, the command and feedback values are passed across the ring as binary
numerical values; the actual generation of command signals and processing of feedback signals is done at
the remote MACRO node. The motor algorithms in the Turbo PMAC are the same regardless of whether
the MACRO ring is used or not. The choice of mode of operation is independent for each motor.
Hardware Setup
The details of the hardware setup of the machine interface ports are dependent on the actual type of the
Turbo PMAC family used, and often the style of the interface. Broadly speaking, there are four classes of
interface:
Turbo PMAC family used, and often the style of the interface. Broadly speaking, there are four classes of
interface:
•
Turbo PMAC boards
•
Turbo PMAC2 boards
•
3U-format Stack boards (Turbo Stack and MACRO Stack)
•
3U-format UMAC (pack) boards (UMAC Turbo and UMAC MACRO)
This section summarizes the connection strategies for these classes of boards. Details of the connections
and other hardware setup issues are covered in the Hardware Reference manuals for the individual boards.
and other hardware setup issues are covered in the Hardware Reference manuals for the individual boards.
Parameters to Set up Basic Motor Operation
Each Motor xx has setup I-variables to permit specific software configuration of that motor’s control
algorithms. The hundreds’ and thousands’ digit of the I-variable specifies which motor is being
configured; for example, I1200 activates or de-activates Motor 12. The generic reference for the variable
uses the letters xx for the motor digits; Ixx00 refers generally to the activation variable for Motor xx,
where xx = 1 to 32.
algorithms. The hundreds’ and thousands’ digit of the I-variable specifies which motor is being
configured; for example, I1200 activates or de-activates Motor 12. The generic reference for the variable
uses the letters xx for the motor digits; Ixx00 refers generally to the activation variable for Motor xx,
where xx = 1 to 32.
Most of the software configuration of a motor involves setting proper values for these variables, as
explained in the following sections. This section has a quick survey of the key variables, and the
variables that are common to all modes. Depending on how the motor is set up, branch to other sections
of the manual. The following flow chart summarizes the motor setup possibilities:
explained in the following sections. This section has a quick survey of the key variables, and the
variables that are common to all modes. Depending on how the motor is set up, branch to other sections
of the manual. The following flow chart summarizes the motor setup possibilities: